Efficient actuation principles and bi-directional energy exchange in human-centric and wearable robotics
BioRob 2024 half-day workshop
September 1st, 2024, 14:00-18:00
Room HS10
Heidelberg, Germany
Abstract
Contemporary robots – particularly wearable robotics – grapple with bi-directional energy flow during their interactions with humans and the environment. Similarly, haptic interfaces can benefit from four-quadrant operation to improve backdrivability and achieve more transparent control. Controlling these dynamics is pivotal in ensuring user comfort and a positive experience, necessitating actuation solutions that facilitate negative power flow and, consequently, high transparency/backdrivability. Notably, achieving low mechanical output impedance poses a formidable hurdle for these actuators, which are also tasked with delivering substantial torques.
Robotic researchers are currently delving into four-quadrant operation, leveraging both electrical and mechanical means to store and release energy. This exploration opens avenues for energy-efficient, lightweight solutions to propel the next wave of wearable robots. Our workshop serves as a comprehensive overview of the latest achievements in actuation techniques suitable for bi-directional energy exchange, with the aim of propelling wearable robotics beyond current limitations and creating a connection with the haptics community, where bi-directional interaction is inherently present.
The primary aim of this workshop is to establish a collaborative platform for the robotics and haptics community, fostering the exchange of promising methodologies and the identification of fundamental barriers. By uniting proponents and experts from diverse fields, we will cultivate an inclusive environment where every participant feels both welcome and valued. This collective effort aims to forge a shared understanding within the robotics community, paving the way for advancements that will shape the future of wearable robotics.
Topics
The objective of this workshop is to discuss the state-of-the-art in energy-efficient actuation techniques for biorobotics, particularly those exploiting bi-directional energy exchange.
- High-performance actuation and impact management for human-robot interaction
- Electrical and mechanical energy storage & release for efficient four-quadrant operation
- Regeneration in human-centric robotics (prostheses, exoskeletons, rehabilitation, cobots)
- Backdrivability & low-impedance actuation (of robots and haptic interfaces)
- Torque sensing & control for transparency
Programme
This is a half-day workshop:
|
Time |
Talk |
|
14:00 – 14:05 |
Organizers: workshop introduction |
|
14:05 – 14:25 |
Michael Goldfarb, “Perspectives and lessons learned on the use of power in lower limb prostheses” |
|
14:25 – 14:45 |
Heike Vallery, “A nonlinear actuation mechanism with dual-use springs for series and parallel elasticity” |
|
14:45 – 15:05 |
Ana Luisa Trejos, “Twisted Coiled Actuators within wearable textiles for upper-limb motion assistance” |
|
15:05 – 16:00 |
Poster introduction and coffee break (posters and demonstrations) |
|
16:00 – 16:20 |
Elliott Rouse, “A novel torsion spring design for compact, energy-dense actuation in autonomous robots” |
|
16:20 – 16:40 |
Monica Malvezzi / Mihai Dragusanu, “Actuated gloves for hand rehabilitation” |
|
16:40 – 17:00 |
Marcia K. O'Malley, “Upper limb wearable device design and control approaches for transparent interaction and haptics” |
|
17:00 – 18:00 |
Round table |
|
18:00 |
Workshop Closure |
Invited Speakers
Michael Goldfarb
Vanderbilt University (US) Talk title: Perspectives and Lessons Learned on the Use of Power in Lower Limb Prostheses |
Herman van der Kooij
University of Twente (NL) Talk title: A small-scale electro-hydrostatic actuator integrated into an ankle exoskeleton |
Ana Luisa Trejos
Western University (CA) Talk title: Twisted Coiled Actuators within wearable textiles for upper-limb motion assistance |
Heike Vallery
University of Aachen (DE) Talk title: A nonlinear actuation mechanism with dual-use springs for series and parallel elasticity |
Elliot Rouse
University of Michigan (US) Talk title: A novel torsion spring design for compact, energy-dense actuation in autonomous robots |
Monica Malvezzi / Mihai Dragusanu
University of Siena (IT) Talk title: Actuated gloves for hand rehabilitation |
Marcia K. O'Malley
Rice University (US) Talk title: Upper limb wearable device design and control approaches for transparent interaction and haptics |
Organisers
Pablo Lopez Garcia (main organiser)
Robotics and Multibody Mechanics, Universiteit Brussel, Belgium |
Philipp Beckerle
Chair of Autonomous Systems and Mechatronics, Friedrich-Alexander-Universität Erlangen-Nürnberg, Germany |
Wesley Roozing
Robotics and Mechatronics, University of Twente, The Netherlands |
Tom Verstraten
Robotics and Multibody Mechanics, Universiteit Brussel, Belgium |
Call for Posters
We invite poster contributions on the topics of the workshop. Accepted contributions will be allocated a slot in the lightning talks session, followed by a poster presentation.
Contributions must be sent as PDF to Pablo.Lopez.Garcia «at» vub.be.
Important Dates
May 15th June 1stJune 8th: Poster contribution submission deadline.June 1stJune 15th: Notification of acceptance for poster contributions.- September 1st: Workshop!